Motoman NX100 Function Manual
Reklaam
Reklaam
Motoman NX100 Controller
Start Point Detect
Function Manual
Part Number: 150601-1 CD
Revision 0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
COMPLETE OUR ONLINE SURVEY
Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution.
To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp
The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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YASKAWA
NX100 OPTIONS
INSTRUCTIONS
FOR BASIC OPERATION OF STARTING POINT DETECTING FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Do not submit this electronic data to the customer.
YOU MUST READ THE MANUAL WHICH ENCLOSED THIS MATERIAL IS FOR STUDY PURPOSE ONLY.
YASKAWA MANUAL NO.
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MANDATORY
• This manual explains the starting point detecting function of the NX100 system. Read this manual carefully and be sure to understand its contents before handling the NX100.
• General items related to safety are listed in Section 1 of the NX100 instructions. To ensure correct and safe operation, carefully read the section before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,”
“MANDATORY,” or ”PROHIBITED.”
WARNING
CAUTION
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn
ON the servo power.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running the system in the check mode.
- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.
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WARNING
• Since detected voltage (200V), welding current, and welding voltage are applied to the starting point detecting unit, install the unit securely so that it does not fall.
• Failure to observe this warning may result in an electric shock or damage to the unit.
• Before connecting the inter-unit cables and the welding cables, be sure to turn OFF the power supply to the NX100 and the welder.
Failure to observe this warning may result in an electric shock.
• Special attention should be paid during starting point detection, since
200 VDC is applied across the wire and the workpiece (welding jig).
Failure to observe this warning may result in an electric shock.
• Do not place any object directly on the cable of the starting point detecting unit.
Failure to observe this warning may result in an injury or damage caused by the disconnection of the cable.
• Attach the cable of the starting point detecting unit for the wire feeder with the wire stand, to protect it from robot movement. If interference between the cable and the peripheral devices is unavoidable, cover the cable with a rubber plate or spiral tube, etc.
Failure to observe this warning may result in an electric shock, an injury, or damage to the cable.
• Do not lay the cable of the starting point detecting unit directly on the floor, but install them in a pit or duct or shield the cable with a protective cover.
Failure to observe this warning may result in an injury or damage to the cable.
• Since a high current flows through the welding cable, separate it from the cables of the control circuit system. If the cables cannot be separated, take preventative measures such as using metallic ducts or tubes on the cables of the control circuit system.
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and manipulator cable.
In this manual, the equipment is designated as follows.
Equipment
NX100 controller
NX100 programming pendant
Cable between the manipulator and the controller
Manual Definition
NX100
Programming pendant
Manipulator cable vi
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Descriptions of the programming pendant, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys The keys which have characters printed on them are
Symbol Keys
Axis Keys
Number Keys
Keys pressed simultaneously
Displays denoted with [ ].
ex. [ENTER]
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
GO BACK ex. page key
PAGE
The cursor key is an exception, and a picture is not shown.
“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]
The menu displayed in the programming pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or bland names for each company or corporation. The indications of (R) and TM are omitted.
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Functional Overview
Installation
2.1
Standard Built-In Type
(MOTOPAC WE/WS Series)
. . . . . . . . . . . . . . . . . . . . . . . 2
-
2
2.2
Floor-Mounted Type
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
-
2
3
Wiring
Teaching
4.1
Single System
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
-
1
4.2
Coordinated System
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
-
5
Instructions
5.1
Format
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
-
1
SRCH (Search Instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
GETS (Read-in System Variable Instruction) . . . . . . . . . . . . . . 5-2
CNVRT (Position Variable Conversion Instruction) . . . . . . . . . 5-2
5.2
System Variables
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
-
3
System Variable Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
PX Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Registering Instruction
6.1
SRCH Instruction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
-
1
6.2
GETS Instruction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
-
3
6.3
CNVRT Instruction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
-
5
Alarm Message List
Instruction List
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1
Functional Overview
The starting point detecting function searches for the groove to be welded.
This function helps find the groove regardless of workpiece size dispersion or setting position.
e f d c
Web surface e f d c
Flange surface
Welding groove
Fig. 1 Starting Point Detection
The manipulator moves to positions c through f as shown in Fig. 1 to find the points where the wire touches the base metal. It then calculates the difference between the taught and actual positions of the flange and the web, and finds the welding groove.
The next figure " Fig. 2 Locating Welding Groove " shows how the flange and the web surface
position errors "h" and "l" are used to change the taught position of the groove to the actual position S’.
Web surface (The taught position.)
Flange surface (The taught position.)
Web surface
(The position in case where
the workpiece has deviated.)
S’
Web surface position error "l"
(The difference between the
taught and the actual position.)
Flange surface
(The position in case where the workpiece
has deviated.)
Flange surface position error "h"
(The difference between the taught and the actual position.)
Fig. 2 Locating Welding Groove
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2
Installation
WARNING
• Since detected voltage (200V), welding current, and welding voltage are applied to the starting point detecting unit; for safety, install the unit securely so that it will not fall.
Failure to observe this warning may result in an electric shock or damage to the unit.
• Before connecting the inter-unit cables and the welding cables, be sure to turn OFF the power supply to the NX100 and the Power Source.
Failure to observe this warning may result in an electric shock.
• Special attention should be paid during starting point detection, since
200 VDC is applied across the wire and the workpiece (including fixture).
Failure to observe this warning may result in an electric shock.
Two types of starting point detecting unit are available: standard built-in type and floor-mounted type.
The starting point detecting unit should be installed outside of the manipulator interference area.
For installation method, refer to the instructions for each type on the following page.
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2.1 Standard Built-In Type (MOTOPAC WE/WS Series)
2.1
Standard Built-In Type (MOTOPAC WE/WS Series)
The starting point detecting unit is built into the MOTOPAC WE/WS series.
CAUTION
• The board for the starting point detecting unit will be shipped in a separate package. Install the board inside the Power Source in setting up the system.
2.2
Floor-Mounted Type
Basically the floor-mounted type should be installed on the side of the Power Source.
When installing a floor-mounted standand type on top of a welder or other devices, fix the unit securely using four tapped holes M6 prepared on the side of the unit for fall prevention.
400
35
400
Side View of Starting
Point Detecting Unit 450
Tapped hole M6
(4 holes)
300 75
20
Units: mm
Fig. 3 Installation of Floor-Mounted Type Unit
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3
Wiring
WARNING
• Do not place any object directly on the cable of the starting point detecting unit.
Failure to observe this warning may result in an injury or damage caused by the disconnection of the cable.
• Attach the cable of the starting point detecting unit for the wire feeder to the wire stand, to protect it from robot movement. If interference between the cable and the peripheral devices is unavoidable, cover the cable with a rubber plate or spiral tube, etc.
Failure to observe this warning may result in an electric shock, an injury, or damage to the cable.
• Do not lay the cable of the starting point detecting unit directly on the floor, but install them in a pit or duct or shield the cable with a protective cover.
Failure to observe this warning may result in an injury or damage to the cable.
• Since a high current flows through the welding cable, separate it from the cables of the control circuit system. If the cables cannot be separated, take preventative measures such as using metallic ducts or tubes on the cables of the control circuit system.
• Built-in type (standard)
NX100
Power Source
Terminal block
Inter-unit cable
Terminal block
Fig. 4 (a) Configuration of Starting Point Detecting Unit (Built-in Type)
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• Floor-mounted type
Perform the wiring in the following manner, referring to the figure below.
1. Connect the 1CN on the starting point detecting unit to the NX100 terminal block.
2. Connect the positive (+) terminal of the starting point detecting unit to the positive (+) terminal of the Power Source.
3. Connect the negative (-) terminal of the starting point detecting unit to the torch power supply section on the wire feeder side.
4. For the floor-mounted type, connect the front terminal block of the starting point detecting unit to the welding voltage detecting terminal on the wire feeder side.
NX100
Power Source
Welding cable
Starting point detecting unit
1CN
Inter-unit cable
Terminal block
E
To the workpiece side To the wire feeder side
Ground cable
SE1
SE2
Cable for welding voltage detection
Fig. 4 (b) Configuration of Starting Point Detecting Unit (Floor-mounted Type)
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4.1 Single System
4
Teaching
This chapter describes the teaching methods of the single starting point detecting function and the coordinated starting point detecting function.
4.1
Single System
The single manipulator starting point detecting function detects the starting point with a single manipulator including the base axis. Perform the single manipulator starting point detection in the following manner.
First, create a program for welding and a program for searching the starting point.
1. Create a work job for welding.
WK01
NOP
MOVJ JV =50.00
MOVJ VJ =50.00
MOVL V =200
ARCON
MOVL V =60
ARCOF
MOVJ VJ =50.00
MOVJ VJ =50.00
END
Step 2
Step 3
Step 6
Step 1
Step 4
Step 5
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4.1 Single System
2. Teach the following three reference points for defining the detection path near the groove. Add the reference points between the teaching steps 2 and 3.
• Reference point for detection standby (REFP3)
• Reference point for flange surface detection (REFP4)
• Reference point for web surface detection (REFP5)
WK01
NOP
MOVJ VJ =50.00
MOVJ VJ =50.00
REFP3
REFP4
REFP5
MOVL V =200
ARCON
MOVL V =60
ARCOF
MOVJ VJ =50.00
MOVJ VJ =50.00
END
Reference point for web surface detection (REFP5)
Step 2
Reference point for detection standby (REFP3)
Step 3
Reference point for flange surface detection (REFP4)
Locations of Reference Points
Step 6
Step 1
Step 2 (REFP3)
REFP5
Step 4
Step 5
Step 3
REFP4
Reference point (REFP5)
Step 2, reference point (REFP3)
Step 3
Reference point (REFP4)
Point Teaching for Defining Detection Path
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4.1 Single System
3. Add the CALL instruction for the single starting point detecting job, TCH_JOB, in the work job WK01.
In this example, the single starting point detecting job is named "TCH_JOB".
WK01
NOP
MOVJ VJ =50.00
MOVJ VJ =50.00
REFP3
REFP4
REFP5
CALL JOB:TCH_JOB
MOVL V =200
ARCON
MOVL V =60
ARCOF
MOVJ VJ =50.00
MOVJ VJ =50.00
END
Addition of the CALL Instruction for the Starting Point Detecting Job
4. Add an instruction to shift the welding path by the deviation amount to the program.
The shift amount for the starting point is set at the position variable “P006” after carrying out the job, “TCH_JOB”.
WK01
NOP
MOVJ VJ =50.00
MOVJ VJ =50.00
REFP3
REFP4
REFP5
CALL JOB:TCH_JOB
SFTON P006
MOVL V =200
ARCON
MOVL V =60
ARCOF
SFTOF
MOVJ VJ =50.00
MOVJ VJ =50.00
END
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4.1 Single System
5. Measure the shift amount compensating for detection delay included in the shift amount "P006" at the starting point in advance. Also, when an offset from the groove position is required for welding, measure the offset separately.
Web surface detection delay
REFP5
P006
REFP4
Flange surface detection delay
Web and Flange Surface Detection Delays
Measuring the Shift Amount Compensating for Detection Delay
1) Execute the starting point detection under the condition when the positions are taught and the workpiece is not offset.
2) Calculate the differences between the detected web surface position and the taught web surface position, and between the detected flange surface position and the taught flange surface position. Register the differences in the position variable P006.
3) Copy the set value at the position variable P006 to P010. This offset amount of
P010 is the amount of the detection delay offset.
To subtract the detection delay offset amount P010 from the offset amount P006 obtained by starting point detection, add a subtraction instruction as follows.
WK01
NOP
MOVJ VJ =50.00
MOVJ VJ =50.00
REFP3
REFP4
REFP5
CALL JOB:TCH_JOB
SUB P006 P010
SFTON P006
MOVL V =200
ARCON
MOVL V =60
ARCOF
SFTOF
MOVJ VJ =50.00
MOVJ VJ =50.00
END
Addition of Subtraction Instruction
The work job added with the starting point detecting function has been completed.
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4.2 Coordinated System
4.2
Coordinated System
The coordinated starting point detecting function detects the starting point in a coordinated operation using two manipulators or a manipulator and station.
When a welding job carries out a coordinated operation, the coordinated starting point detection must be carried out instead of the single starting point detection.
Perform the coordinated starting point detection in the following manner.
1. Create a work job for welding.
WK01
NOP
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
SMOVL V =200
+MOVL
ARCON
SMOVL V =60
+MOVL
ARCOF
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
END
Step 2
Step 3
Step 6
Step 1
Step 4
Step 5
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4.2 Coordinated System
2. Teach the following three reference points for defining the detection path near the groove. Add the reference points between the teaching steps 2 and 3.
• Reference point for detection standby (SREFP3)
• Reference point for flange surface detection (SREFP4)
• Reference point for web surface detection (SFEFP5)
Reference point for web surface detection (SREFP5)
Step 2
Reference point for detection standby (SREFP3)
Step 3
Reference point for flange surface detection (SREFP4)
Locations of Reference Points
WK01
NOP
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
SREFP3
SREFP4
SREFP5
SMOVL V =200
+MOVL
ARCON
SMOVL V =60
+MOVL
ARCOF
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
END
Step 6
Step 1
Step 4
Step 5
Step 2 (SREFP3)
SREFP5
Step 3
SREFP4
Reference point
(SREFP5)
Step 2
Reference point
(SREFP3)
Step 3
Reference point
(SREFP4)
Point Teaching for Defining Detection Path
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4.2 Coordinated System
3. Add the CALL instruction for the coordinated starting point detecting job, TCH_JOB, in the work job WK01.
In this example, the coordinated starting point detecting job is named "TCH_JOB".
WK01
NOP
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
SREFP3
SREFP4
SREFP5
CALL JOB:TCH_JOB
SMOVL V =200
+MOVL
ARCON
SMOVL V =60
+MOVL
ARCOF
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
END
Addition of the CALL Instruction for
the Starting Point Detecting Job
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4.2 Coordinated System
4. Add an instruction to shift the welding path by the deviation amount to the program.
The shift amount for the starting point is set at the position variable "P006" after carrying out the job, "TCH_JOB".
WK01
NOP
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
SREFP3
SREFP4
SREFP5
CALL JOB:TCH_JOB
SSFTON P006
SMOVL V =200
+MOVL
ARCON
SMOVL V =60
+MOVL
ARCOF
SSFTOF
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
END
5. Measure the shift amount compensating for detection delay included in the shift amount "P006" at the starting point in advance. Also, when an offset from the groove position is required for welding, measure the offset separately.
Web surface detection delay
SREFP5
P006
SREFP4
Flange surface detection delay
Web and Flange Surface Detection Delays
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4.2 Coordinated System
Measuring the Shift Amount Compensating for Detection Delay
1) Execute the starting point detection under the condition when the positions are taught and the workpiece is not offset.
2) Calculate the differences between the detected web surface position and the taught web surface position, and between the detected flange surface position and the taught flange surface position. Register the differences in the position variable P006.
3) Copy the set value at the position variable P006 to P010. This offset amount of
P010 is the amount of the detection delay offset.
To subtract the detection delay offset amount P010 from the offset amount P006 obtained by starting point detection, add a subtraction instruction as follows.
WK01
NOP
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
SREFP3
SREFP4
SREFP5
CALL JOB:TCH_JOB
SUB P006 P010
SSFTON P006
SMOVL V =200
+MOVL
ARCON
SMOVL V =60
+MOVL
ARCOF
SSFTOF
MOVJ VJ =50.00
+MOVJ
MOVJ VJ =50.00
+MOVJ
END
Addition of Subtraction Instruction
The work job added with the starting point detecting function has been completed.
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4.2 Coordinated System
NOTE
• The moving amount of the SRCH in a FWD key operation is different from the amount in a BWD key operation.
MOVL P000 V = 10.0 SRCH RIN#1 = ON T = 0.1 DIS =10.0
SRCH P000 V-16.7 DIS-10 RIN#1
Moves to the position
P000 + DIS - mm.
Moves only to the position P000.
DIS- mm
P000
P000
In a FWD key operation In a BWD key operation
• During a FWD key operation, the SRCH instruction is not output to the starting point detecting unit. Therefore, the manipulator only moves to the position specified by the position variable set for the SRCH instruction and the distance (DIS), but detection will not be carried out.
• Holding down the [FWD] key moves the manipulator from point A to point B continuously. Release the [FWD] key, move the cursor to the next step, and then press the [FWD] key again.
[FWD] key
FWD key operation stopped
Point A
Move the cursor to Point B.
Point A : P000
Point B : P000+20 mm
Point B
• Since the starting point detecting function finds a workpiece position by touching with a wire, irregular wire length negatively affects the detection accuracy.
Before detection, check to make sure that the wires are the same length.
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5
Instructions
This chapter describes the instructions used in the starting point detecting function.
5.1 Format
5.1
Format
5.1.1
SRCH (Search Instruction)
SRCH is an instruction to carry out the search function. It is an additional item to the move instruction.
Format: MOVL <Position type variable> <V = Speed> SRCH RIN# (Direct IN No.) = <Status>
<T = Time> DIS = <Distance>
• Position type variable:
• Speed:
• Direct IN No:
• Status:
• Distance:
• Time:
• Result:
Manipulator (P) position type variable
Control point speed (Set a moderate speed so that the welding wire does not bend.)
1 to 3
Status of direct IN No.
ON/OFF or B type variable
Specifies the shift amount from the target point specified by the position type variable.
In units of 0.1 mm (0 to 6553.4 mm)
The delay time of starting the direct IN input check (in units of 0.01 sec.)
While the starting point detecting unit relay is switched from 0 V to 200V, a direct IN signal may be input continuously. Therefore, T must be set to
0.1 sec. or longer.
When a direct IN signal is input, “1” is set to $B002. When the direct IN signal is not input, “0” is set to $B002.
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5.1 Format
5.1.2
GETS (Read-in System Variable Instruction)
GETS is an instruction to save a system variable ($ variable) as a user variable.
The NX100 cannot use system variables directly for operating instructions. Use GETS to fetch a value as a user variable.
Format: GETS <User variable> <System variable>
For GETS, note the following points.
• The user and the system variables must be of the same type.
<Example>
GETS B000 $B000
• Position variables can be specified only by PX variables.
• PX variables are position type variables that are defined in a job. In a job for a single manipulator, PX000 equals P000.
For details of $PX variables, refer to “Section 5.2 System Variables”.
5.1.3
CNVRT (Position Variable Conversion Instruction)
CNVRT is an instruction to convert a pulse-type position variable into a Cartesian data position type variable, using a specified coordinate system.
Format: CNVRT PX variable PX variable <Coordinate system>
(B) (A)
• PX variable (A):
• PX variable (B):
• Coordinate system
Pulse data only
Cartesian data (Converted Cartesian data is stored.)
Base coordinate: BF
Manipulator coordinate: RF
Tool coordinate:
User coordinate:
TF
UF
Master tool coordinate: MTF
When the master tool coordinate is selected, the pulse data is converted into Cartesian data on the coordinates relative to the master manipulator (only when a coordinated system is selected).
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5.2 System Variables
5.2
System Variables
In this section, the system variable function and the PX variables are explained.
5.2.1
System Variable Function
GETS is the only instruction which refers to system variables written by the controller system.
System Variable Type
$B-type
$I-type
$D-type
$R-type
$PX-type
B
I
D
R
PX
Explanation
$B002: Specifies whether the SRCH instruction was detected/not detected.
0: Not detected, 1: Detected
Not used
Not used
Not used
$PX000: Current pulse
$PX002: Detecting position pulse
$PX011: REFP1 pulse
$PX012: REFP2 pulse
$PX013: REFP3 pulse
$PX014: REFP4 pulse
$PX015: REFP5 pulse
$PX016: REFP6 pulse
$PX017: REFP7 pulse
$PX018: REFP8 pulse
$PX021: SREFP1 pulse
$PX022: SREFP2 pulse
$PX023: SREFP3 pulse
$PX024: SREFP4 pulse
$PX025: SREFP5 pulse
$PX026: SREFP6 pulse
$PX027: SREFP7 pulse
$PX028: SREFP8 pulse
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5.2 System Variables
5.2.2
PX Variables
The PX variable is a group of position variables defined by the control group specified in the job header.
• When the control group is R1, PX000 indicates P000.
• When the control group is R1+B1, PX000 indicates P000 and BP000.
• When the control group is R1+B1+ST1, PX000 indicates P000, BP000 and EX000.
• When the control group is R1+R2+B1+B2+ST1, and the job is a cooperated job and the master coordinates are R1+B1, PX000 indicates the following coordinates.
P000
P001
R2 (slave)
R1 (master)
BP000 B2 (slave)
BP001 B1 (master)
EX000 ST1
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6
Registering Instruction
6.1 SRCH Instruction
6.1
SRCH Instruction
Operation Explanation
1 Move the cursor to the instruction area.
2 Move the cursor to the line where SRCH instruction is to be registered.
3 Press [SELECT] twice.
Pressing [SELECT] once displays the contents registered in the job in the input buffer line. Pressing [SELECT] a second time displays the detail edit window of the move instruction.
JOB
JOB
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
EDIT
FD/CF
CF
SETUP
DISPLAY
DISPLAY SETUP
Aa
UTILITY
DETAIL EDIT
MOVL
SPEED
POS LEVEL
NWAIT
UNTIL
ACCEL RATIO
DECEL RATIO
COMMENT
V= 100
UNUSED
UNUSED
UNUSED
UNUSED
UNUSED
UNUSED
SYSTEM INFO
=> MOVL V=100
Main Menu Short Cut
4 Click on {UNTIL}.
5 Select {SRCH}.
Select {SRCH} from the pull-down list.
JOB
JOB
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
EDIT DISPLAY
FD/CF
CF
SETUP
DISPLAY SETUP
Aa
UTILITY
DETAIL EDIT
MOVL
SPEED
POS LEVEL
NWAIT
UNTIL
ACCEL RATIO
DECEL RATIO
COMMENT
V= 100
UNUSED
UNUSED
UNUSED
UNUSED
UNUSED
UNUSED
UNUSED
SYSTEM INFO
=> MOVL V=100
Main Menu Short Cut
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6.1 SRCH Instruction
Operation
5 (Continued from the previous
page.)
Explanation
The detail edit window of the SRCH instruction appears.
JOB
JOB
MOVE
END
ARC WELDING
VARIABLE
B001
EDIT DISPLAY
FD/CF
CF
SETUP
DISPLAY SETUP
Aa
UTILITY
DETAIL EDIT
SRCH
DIRECT INPUT
CONDITION
INPUT STATUS
TIME
DISTANCE
In
IN/OUT
Out
ROBOT
R I N # ( ) 1
=
ON
UNUSED
D I S = 0 . 1
SYSTEM INFO
=> SRCH RIN#(1)=ON DIS=0.1
Main Menu Short Cut
6 Enter each item in the DETAIL
EDIT window of SRCH instruction.
7 Press [ENTER].
The window returns to the detail edit window of the move instruction.
JOB
JOB
DOUT
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
EDIT
FD/CF
CF
SETUP
DISPLAY
DISPLAY SETUP
Aa
UTILITY
DETAIL EDIT
MOVL
SPEED
POS LEVEL
NWAIT
UNTIL
ACCEL RATIO
DECEL RATIO
COMMENT
V= 100
UNUSED
UNUSED
SRCH
UNUSED
UNUSED
UNUSED
I
8 Press [ENTER] twice.
SYSTEM INFO
=> MOVL V=100
Main Menu Short Cut
Pressing [ENTER] once displays the set contents in the input buffer line. Pressing [ENTER] a second time registers the set contents in the job.
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6.2 GETS Instruction
6.2
GETS Instruction
Operation
1 Move the cursor to the address area.
2 Move the cursor to the line where GETS instruction is to be registered.
3 Press [INFORM LIST].
Explanation
The instruction list dialog appears. The cursor moves to the instruction list dialog, while the cursor in the address area changes to an underbar.
4 Select {GETS}.
JOB
JOB
DOUT
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
SYSTEM INFO
EDIT
FD/CF
CF
SETUP
DISPLAY UTILITY
JOB CONTENT
JOB NAME : 0
0002 END
STEP NO:
IN/OUT
CONTROL GROUP : R1 TOOL: 00
CONTROL
0001 MOVL V=100 SRCH RIN#(1)=ON DIS=0.1
DEVICE
MOTION
DISPLAY SETUP
Aa
ARITH
SHIFT
OTHER
SAME
PRIOR
=>
Main Menu Short Cut
The instruction where the cursor is positioned is displayed in the input buffer line with the previously registered additional items.
JOB
JOB
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
SYSTEM INFO
EDIT
FD/CF
CF
SETUP
DISPLAY UTILITY
JOB CONTENT
JOB NAME : 0
0002 END INC CNVRT
STEP NO:
GETE
IN/OUT
CONTROL GROUP : R1
CLEAR DIV
TOOL: 00
SETE CONTROL
0001 MOVL V=100 SRCH RIN#(1)=ON DIS=0.1
DEVICE
DEC AND GETS MOTION
DISPLAY SETUP
Aa
SET
ADD
SUB
MUL
OR
NOT
XOR
SQRT
SIN
COS
MFRAME ATAN
ARITH
SHIFT
OTHER
SAME
PRIOR
=> GETS B000 $B000
Main Menu Short Cut
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6.2 GETS Instruction
5
Operation
Press [ENTER] twice.
Explanation
The detail edit window of the GETS instruction appears.
JOB
JOB
DOUT
MOVE
END
ARC WELDING
EDIT
FD/CF
CF
SETUP
DISPLAY UTILITY
DETAIL EDIT
GETS
PUT TO
GET FROM
B000
$B000
VARIABLE
B001
In
IN/OUT
Out
ROBOT
DISPLAY SETUP
Aa
SYSTEM INFO
=> GETS B000 $B000
Main Menu Short Cut
6 Enter variables in the detail edit window of GETS instruction.
7 Press [ENTER] twice.
Pressing [ENTER] once displays the set contents in the input buffer line. Pressing [ENTER] a second time registers the set contents in the job.
6-4
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6.3 CNVRT Instruction
6.3
CNVRT Instruction
Operation Explanation
1 Move the cursor to the address area.
2 Move the cursor to the line where CNVRT instruction is to be registered.
3 Press [INFORM LIST].
The instruction list dialog appears. The cursor moves to the instruction list dialog, while the cursor in the address area changes to an underbar.
JOB
JOB
DOUT
END
ARC WELDING
VARIABLE
B001
EDIT
FD/CF
CF
SETUP
DISPLAY
DISPLAY SETUP
Aa
UTILITY
JOB CONTENT
JOB NAME : 0
CONTROL GROUP : R1
NOP 0000
0001
0002
0003
GETS B000 $B002
END
In
IN/OUT
Out
ROBOT
STEP NO:
TOOL: 00
IN/OUT
CONTROL
SYSTEM INFO
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
=>
Main Menu Short Cut
4 Select {CNVRT}.
The instruction where the cursor is positioned is displayed in the input buffer line with the previously registered additional items.
JOB
JOB
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
SYSTEM INFO
EDIT
FD/CF
CF
SETUP
DISPLAY
DISPLAY SETUP
Aa
UTILITY
JOB CONTENT
JOB NAME : 0
CONTROL GROUP : R1
CLEAR DIV
0000 NOP
0001 INC
0002
0003
GETS B000 $B002
END
DEC AND
SET OR
ADD
SUB
MUL
STEP NO:
TOOL: 00
SETE
IN/OUT
CONTROL
NOT
XOR
MFRAME ATAN
GETS
SQRT
SIN
COS
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
=> CNVRT PX000 PX000 BF
Main Menu Short Cut
6-5
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6.3 CNVRT Instruction
Operation
5 Press [ENTER] twice.
Explanation
The detail edit window of the CNVRT instruction appears.
JOB
JOB
DOUT
MOVE
END
ARC WELDING
VARIABLE
B001
In
IN/OUT
Out
ROBOT
EDIT
FD/CF
CF
SETUP
DISPLAY UTILITY
DETAIL EDIT
CNVRT
DESTINATION
SOURCE
COORDINATE
TOOL NO.
DISPLAY SETUP
Aa
PX000
PX000
BF
UNUSED
SYSTEM INFO
=> CNVRT PX000 PX000 BF
Main Menu Short Cut
6 Enter variables in the detail edit window of CNVRT instruction.
7 Press [ENTER] twice.
Pressing [ENTER] once displays the set contents in the input buffer line. Pressing [ENTER] a second time registers the set contents in the job.
6-6
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7
Alarm Message List
Alarm
Number
4474
4499
4507
Message Cause Remedy
WRONG CON-
TROL GROUP
AXIS
An instruction such as CALL or
JUMP was used for a job other than in the currently used job control group.
Undefined position data was used.
Use the same control group for the call destination job, as the control group for the call source job.
Define the position data.
UNDEFINED
POSITION VARI-
ABLE
REFP POS
ERROR
(SEARCH
MOTION)
The distance between the search starting point and the target point was too short to determine the search direction.
Reset the alarm and increase the distance between the search starting point and the target point.
7-1
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8
Instruction List
The information in parentheses < > indicates numerical or alphabetical data. If more than one items are shown in one section, select one of the items.
SRCH
(Search)
GETS
(Get S)
CNVRT
(Convert)
Function
Format
Example
Function
Format
Executes the SRCH function
RIN# (<Direct IN No.>) = <Status>
T = <Time in sec.>
Direct IN No: 1 to 3
Status: ON, OFF, B <Variable No.>
The delay time of starting the direct IN signal input check
DIS = <Distance in mm> Shift amount from the target point specified by the position variable
MOVL P000 V=138 SRCH RIN#(1)=ON T=1.00 DIS=10.0
Sets the system variable as a user variable
User variable B <Variable No.>, I <Variable No.>,
D <Variable No.>, R <Variable No.>,
PX <Variable No.>
$B <Variable No.>, $I <Variable No.>,
$D <Variable No.>, $R <Variable No.>,
$PX <Variable No.>
System variable
Examples GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
Function Converts the position variable of Data 2 to a Cartesian data position variable using a specified coordinate system, and stores in Data 1.
Format: CNVRT <Data 1> <Data 2> Coordinate system specification
Format Data 1 PX <Variable No.>
Data 2 PX <Variable No.>
BF, RF, TF, UF# (<User coordinate No.>),
MTF
BF: Base coordinate
RF: Manipulator
coordinate
TF: Tool coordinate
UF: User coordinate
MTF: Master tool
coordinate
Examples CNVRT PX000 PX001 BF
CNVRT LPX000 LPX001 TF
8-1
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NX100 OPTIONS
INSTRUCTIONS
FOR BASIC OPERATION OF STARTING POINT DETECTING FUNCTION
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745 Fax 81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686 Fax 1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800 Fax 46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100 Fax 49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377 Fax 60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C Printed in Japan July 2005 04-04
MANUAL NO.
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Start Point Detect
150601-1
Appendix A
Standard Jobs
Section 4, Teaching, references position variable P006 for the starting point shift amount. This variable has been changed to P001 as reflected in the following jobs.
A.1
Robot 1 Touch Sense Jobs
The Robot 1 jobs are used when Coordinated Motion is not required between the robot and positioner.
A.1.1
R1-LAP-1
/JOB
//NAME R1-LAP-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/27 12:44
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///LVARS 1,1,1,0,0,12,0,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
Final page 27
Function Manual
Appendix A Standard Jobs page 28
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SET LP011 LP008
GETE LD000 LP011 (3)
SUB LP011 LP011
ADD LD000 2000
' add 2mm for lap search
SETE LP011 (3) LD000
ADD LP002 LP011
ADD LP003 LP011
'********************************
MOVL LP002 V=12.5
'move to ref p 3
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
'setting global shift variable
Final
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.1.2
R1-TCH-1
/JOB
//NAME R1-TCH-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/27 12:44
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
Final
Start Point Detect
150601-1 page 29
Function Manual
Appendix A Standard Jobs
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END page 30 Final
A.1.3
R1-TCH-X
/JOB
//NAME R1-TCH-X
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P001 LP008
Final
Start Point Detect
150601-1 page 31
Function Manual
Appendix A Standard Jobs
'setting global shift variable
'********************************
SETE P001 (2) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.1.4
R1-TCH-Y
/JOB
//NAME R1-TCH-Y
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'******************************** page 32 Final
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.1.5
R1-TCH-Z
/JOB
//NAME R1-TCH-Z
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
Final
Start Point Detect
150601-1 page 33
Function Manual
Appendix A Standard Jobs page 34
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (2) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
Final
Start Point Detect
150601-1
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.2
Robot 2 Touch Sense Jobs
The Robot 2 jobs are used when Coordinated Motion is not required between the robot and positioner.
A.2.6
R2-LAP-Z
/JOB
//NAME R2-LAP-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/27 12:44
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///LVARS 1,1,1,0,0,12,0,0
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
Final page 35
Function Manual
Appendix A Standard Jobs page 36
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SET LP011 LP008
GETE LD000 LP011 (3)
SUB LP011 LP011
ADD LD000 2000
' add 2mm for lap search
SETE LP011 (3) LD000
ADD LP002 LP011
ADD LP003 LP011
'********************************
MOVL LP002 V=12.5
'move to ref p 3
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
Final
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.2.7
R2-TCH-1
/JOB
//NAME R2-TCH-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:04
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
Final
Start Point Detect
150601-1 page 37
Function Manual
Appendix A Standard Jobs
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.2.8
R2-TCH-X
/JOB
//NAME R2-TCH-X
//POS
///NPOS 0,0,0,1,0,0 page 38 Final
///TOOL 1
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (2) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
Final
Start Point Detect
150601-1 page 39
Function Manual
Appendix A Standard Jobs
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.2.9
R2-TCH-Y
/JOB
//NAME R2-TCH-Y
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection page 40 Final
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.2.10
R2-TCH-Z
/JOB
//NAME R2-TCH-Z
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
Final
Start Point Detect
150601-1 page 41
Function Manual
Appendix A Standard Jobs page 42
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (2) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
Final
Start Point Detect
150601-1
MOVL LP001 V=12.5
END
A.3
Robot 3 Touch Sense Jobs
The Robot 3 jobs are used when Coordinated Motion is not required between the robot and positioner.
A.3.11
R3-LAP-1
/JOB
//NAME R3-LAP-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/27 12:44
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///LVARS 1,1,1,0,0,12,0,0
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
Final page 43
Function Manual
Appendix A Standard Jobs page 44
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SET LP011 LP008
GETE LD000 LP011 (3)
SUB LP011 LP011
ADD LD000 2000
' add 2mm for lap search
SETE LP011 (3) LD000
ADD LP002 LP011
ADD LP003 LP011
'********************************
MOVL LP002 V=12.5
'move to ref p 3
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
Final
A.3.12
R3-TCH-1
/JOB
//NAME R3-TCH-1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:04
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
'convert ref 3 4 5 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
Final
Start Point Detect
150601-1 page 45
Function Manual
Appendix A Standard Jobs
MOVL LP003 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.3.13
R3-TCH-X
/JOB
//NAME R3-TCH-X
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3 page 46 Final
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (2) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
Final
Start Point Detect
150601-1 page 47
Function Manual
Appendix A Standard Jobs
MOVL LP001 V=12.5
END
A.3.14
R3-TCH-Y
/JOB
//NAME R3-TCH-Y
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount page 48 Final
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.3.15
R3-TCH-Z
/JOB
//NAME R3-TCH-Z
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///LVARS 1,0,0,0,0,11,0,0
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
'ref points 3 4
Final
Start Point Detect
150601-1 page 49
Function Manual
Appendix A Standard Jobs
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
'convert ref 3 4 to base frame
'********************************
MOVL LP001 V=12.5
'move to ref p 3
MOVL LP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
'calculating shift amount
'********************************
MOVL LP001 V=12.5
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (2) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
MOVL LP001 V=12.5
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
MOVL LP001 V=12.5
END
A.4
Robot Base Touch Sense Jobs
The Robot Base jobs are used with Linear Track.
page 50 Final
A.4.16
R1-B1-T1
/JOB
//NAME R1-B1-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:04
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1,BS1
///LVARS 1,0,0,0,0,11,11,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
GETS LPX003 $PX015
' ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
CNVRT LPX006 LPX003 BF
' convert ref 3 4 5 to base frame
'********************************
MOVL LP001 LBP000 V=12.5
' move to ref p 3
MOVL LP002 LBP000 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
' search toward ref p 4
'********************************
GETS LB000 $B002
' search detection
'********************************
JUMP *NG IF LB000=0
' touch failed if LB000=0
'********************************
GETS LPX007 $PX002
' getting 1st detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
' calculating 1st shift amount
'********************************
MOVL LP001 LBP000 V=12.5
' move to ref p 3
Final
Start Point Detect
150601-1 page 51
Function Manual
Appendix A Standard Jobs
MOVL LP003 LBP000 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
' search toward ref p 5
'********************************
GETS LB000 $B002
' search detection
JUMP *NG IF LB000=0
' touch failed if LB000=0
'********************************
GETS LPX009 $PX002
' getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 BF
SUB LP010 LP006
' calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
' setting global shift variable
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
MOVL LP001 LBP000 V=12.5
RET
*NG
SUB P001 P001
' resetting global shift variable
PAUSE
' touch failed
'********************************
MOVL LP001 LBP000 V=12.5
END
A.4.17
R1-B-T-X
/JOB
//NAME R1-B-T-X
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1,BS1 page 52 Final
///LVARS 1,0,0,0,0,11,11,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
' ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
' convert ref 3 4 to base frame
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
MOVL LP002 LBP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
' search for x (ref p 4)
'********************************
GETS LB000 $B002
' search detection
'********************************
JUMP *NG IF LB000=0
' touch failed if LB000=0
'********************************
GETS LPX007 $PX002
' getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
' calculating shift amount
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
'********************************
SET P001 LP008
' setting global shift variable
'********************************
SETE P001 (2) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
' clearing unused data
'********************************
MOVL LP001 LBP001 V=12.5
RET
*NG
SUB P001 P001
' resetting global shift variable
PAUSE
' touch failed
'********************************
Final
Start Point Detect
150601-1 page 53
Function Manual
Appendix A Standard Jobs
MOVL LP001 LBP001 V=12.5
END
A.4.18
R1-B-T-Y
/JOB
//NAME R1-B-T-Y
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1,BS1
///LVARS 1,0,0,0,0,11,11,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
' ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
' convert ref 3 4 to base frame
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
MOVL LP002 LBP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
' search for y (ref p 4)
'********************************
GETS LB000 $B002
' search detection
'********************************
JUMP *NG IF LB000=0
' touch failed if LB000=0
'********************************
GETS LPX007 $PX002
' getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
' calculating shift amount page 54 Final
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
'********************************
SET P001 LP008
' setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
' clearing unused data
'********************************
MOVL LP001 LBP001 V=12.5
RET
*NG
SUB P001 P001
' resetting global shift variable
PAUSE
' touch failed
'********************************
MOVL LP001 LBP001 V=12.5
END
A.4.19
R1-B-T-Z
/JOB
//NAME R1-B-T-Z
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=5.053,-0.001,6.376,0.00,0.00,0.00
//INST
///DATE 2003/10/16 13:07
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1,BS1
///LVARS 1,0,0,0,0,11,11,0
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX013
GETS LPX002 $PX014
Final
Start Point Detect
150601-1 page 55
Function Manual
Appendix A Standard Jobs
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 BF
CNVRT LPX005 LPX002 BF
' convert ref 3 4 to base frame
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
MOVL LP002 LBP002 V=12.5 SRCH RIN#(1)=ON T=0.10 DIS=25.0
' search for z (ref p 4)
'********************************
GETS LB000 $B002
' search detection
'********************************
JUMP *NG IF LB000=0
' touch failed if LB000=0
'********************************
GETS LPX007 $PX002
' getting detection point
'********************************
CNVRT LPX008 LPX007 BF
SUB LP008 LP005
' calculating shift amount
'********************************
MOVL LP001 LBP001 V=12.5
' move to ref p 3
'********************************
SET P001 LP008
' setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (2) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
' clearing unused data
'********************************
MOVL LP001 LBP001 V=12.5
RET
*NG
SUB P001 P001
' resetting global shift variable
PAUSE
' touch failed
'********************************
MOVL LP001 LBP001 V=12.5
END
A.5
Robot 1, 2, and 3 Touch Sense Jobs
The Robot 1, 2, and 3 jobs are used with up to three Positioners with Coordinated Motion.
page 56 Final
A.5.20
R1-S1-T1
/JOB
//NAME R1-S1-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
Final
Start Point Detect
150601-1 page 57
Function Manual
Appendix A Standard Jobs
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.21
R1-S1-TX
/JOB
//NAME R1-S1-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05 page 58 Final
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (2) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
Final
Start Point Detect
150601-1 page 59
Function Manual
Appendix A Standard Jobs
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.22
R1-S1-TY
/JOB
//NAME R1-S1-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'******************************** page 60 Final
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.23
R1-S1-TZ
/JOB
//NAME R1-S1-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
Final
Start Point Detect
150601-1 page 61
Function Manual
Appendix A Standard Jobs page 62
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (2) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
Final
A.5.24
R1-S2-T1
/JOB
//NAME R1-S2-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
Final
Start Point Detect
150601-1 page 63
Function Manual
Appendix A Standard Jobs
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.25
R1-S2-TX
/JOB
//NAME R1-S2-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05 page 64 Final
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (2) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
Final
Start Point Detect
150601-1 page 65
Function Manual
Appendix A Standard Jobs
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.26
R1-S2-TY
/JOB
//NAME R1-S2-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'******************************** page 66 Final
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.27
R1-S2-TZ
/JOB
//NAME R1-S2-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
Final
Start Point Detect
150601-1 page 67
Function Manual
Appendix A Standard Jobs page 68
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (2) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
Final
A.5.28
R1-S3-T1
/JOB
//NAME R1-S3-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
Final
Start Point Detect
150601-1 page 69
Function Manual
Appendix A Standard Jobs
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.29
R1-S3-TX
/JOB
//NAME R1-S3-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05 page 70 Final
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (2) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
Final
Start Point Detect
150601-1 page 71
Function Manual
Appendix A Standard Jobs
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.30
R1-S3-TY
/JOB
//NAME R1-S3-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'******************************** page 72 Final
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (3) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.31
R1-S3-TZ
/JOB
//NAME R1-S3-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0001=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
Final
Start Point Detect
150601-1 page 73
Function Manual
Appendix A Standard Jobs page 74
'********************************
'this job uses global P001 only *
'your offset amount will be *
'stored in P001 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P001 LP008
'setting global shift variable
'********************************
SETE P001 (1) 0
SETE P001 (2) 0
SETE P001 (4) 0
SETE P001 (5) 0
SETE P001 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P001 P001
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
Final
END
A.5.32
R2-S1-T1
/JOB
//NAME R2-S1-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
Final
Start Point Detect
150601-1 page 75
Function Manual
Appendix A Standard Jobs
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.33
R2-S1-TX
/JOB
//NAME R2-S1-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN page 76 Final
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (2) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
Final
Start Point Detect
150601-1 page 77
Function Manual
Appendix A Standard Jobs
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.34
R2-S1-TY
/JOB
//NAME R2-S1-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002 page 78 Final
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.35
R2-S1-TZ
/JOB
//NAME R2-S1-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
Final
Start Point Detect
150601-1 page 79
Function Manual
Appendix A Standard Jobs page 80
///GROUP1 RB2
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (2) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
Final
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.36
R2-S2-T1
/JOB
//NAME R2-S2-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
Final
Start Point Detect
150601-1 page 81
Function Manual
Appendix A Standard Jobs
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.37
R2-S2-TX
/JOB
//NAME R2-S2-TX
//POS
///NPOS 0,0,0,1,0,0 page 82 Final
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (2) 0
SETE P002 (3) 0
SETE P002 (4) 0
Final
Start Point Detect
150601-1 page 83
Function Manual
Appendix A Standard Jobs
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.38
R2-S2-TY
/JOB
//NAME R2-S2-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002 page 84 Final
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.39
R2-S2-TZ
/JOB
//NAME R2-S2-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
Final
Start Point Detect
150601-1 page 85
Function Manual
Appendix A Standard Jobs page 86
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (2) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
Final
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.40
R2-S3-T1
/JOB
//NAME R2-S3-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
Final
Start Point Detect
150601-1 page 87
Function Manual
Appendix A Standard Jobs
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.41
R2-S3-TX
/JOB page 88 Final
//NAME R2-S3-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
Final
Start Point Detect
150601-1 page 89
Function Manual
Appendix A Standard Jobs
SETE P002 (2) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.42
R2-S3-TY
/JOB
//NAME R2-S3-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'******************************** page 90 Final
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (3) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.43
R2-S3-TZ
/JOB
//NAME R2-S3-TZ
//POS
///NPOS 0,0,0,1,0,0
///TOOL 1
///POSTYPE MTOOL
///RECTAN
Final
Start Point Detect
150601-1 page 91
Function Manual
Appendix A Standard Jobs page 92
///RCONF 0,0,0,0,0,0,0,0
P0002=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB2
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P002 only *
'your offset amount will be *
'stored in P002 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P002 LP008
'setting global shift variable
'********************************
SETE P002 (1) 0
SETE P002 (2) 0
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
'clearing unused data
Final
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P002 P002
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.44
R3-S1-T1
/JOB
//NAME R3-S1-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
Final
Start Point Detect
150601-1 page 93
Function Manual
Appendix A Standard Jobs
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(2)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END page 94 Final
A.5.45
R3-S1-TX
/JOB
//NAME R3-S1-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
Final
Start Point Detect
150601-1 page 95
Function Manual
Appendix A Standard Jobs
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (2) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.46
R3-S1-TY
/JOB
//NAME R3-S1-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF page 96 Final
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.47
R3-S1-TZ
/JOB
//NAME R3-S1-TZ
//POS
Final
Start Point Detect
150601-1 page 97
Function Manual
Appendix A Standard Jobs page 98
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST1
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (2) 0
Final
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.48
R3-S2-T1
/JOB
//NAME R3-S2-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
Final
Start Point Detect
150601-1 page 99
Function Manual
Appendix A Standard Jobs page 100
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
Final
A.5.49
R3-S2-TX
/JOB
//NAME R3-S2-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
Final
Start Point Detect
150601-1 page 101
Function Manual
Appendix A Standard Jobs
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (2) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.50
R3-S2-TY
/JOB
//NAME R3-S2-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF page 102 Final
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.51
R3-S2-TZ
/JOB
//NAME R3-S2-TZ
//POS
Final
Start Point Detect
150601-1 page 103
Function Manual
Appendix A Standard Jobs page 104
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST2
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (2) 0
Final
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.52
R3-S3-T1
/JOB
//NAME R3-S3-T1
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
GETS LPX003 $PX025
'ref points 3 4 5
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
CNVRT LPX006 LPX003 MTF
'convert ref 3 4 5 to
'master tool frame
'********************************
Final
Start Point Detect
150601-1 page 105
Function Manual
Appendix A Standard Jobs page 106
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search toward ref p 4
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP003 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX003
'search toward ref p 5
'********************************
GETS LB000 $B002
'search detection
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX009 $PX002
'getting 2nd detection point
'********************************
CNVRT LPX010 LPX009 MTF
SUB LP010 LP006
'calculating 2nd shift amount
'********************************
ADD LP008 LP010
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing rollabout data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
Final
A.5.53
R3-S3-TX
/JOB
//NAME R3-S3-TX
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for x (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
Final
Start Point Detect
150601-1 page 107
Function Manual
Appendix A Standard Jobs
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (2) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.54
R3-S3-TY
/JOB
//NAME R3-S3-TY
//POS
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF page 108 Final
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for y (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (3) 0
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
A.5.55
R3-S3-TZ
/JOB
//NAME R3-S3-TZ
//POS
Final
Start Point Detect
150601-1 page 109
Function Manual
Appendix A Standard Jobs page 110
///NPOS 0,0,0,1,0,0
///TOOL 2
///POSTYPE MTOOL
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
P0003=0.000,0.000,0.000,0.00,0.00,0.00
//INST
///DATE 2003/10/23 19:35
///COMM LUNEKE NX sept.28,05
///ATTR SC,RW
///GROUP1 RB3
///GROUP2 ST3
///LVARS 2,0,0,0,0,12,0,12
NOP
'********************************
'this job uses global P003 only *
'your offset amount will be *
'stored in P003 *
'********************************
GETS LPX001 $PX023
GETS LPX002 $PX024
'ref points 3 4
'********************************
CNVRT LPX004 LPX001 MTF
CNVRT LPX005 LPX002 MTF
'convert ref 3 4 to
'master tool frame
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
SMOVL LP002 V=16.7 SRCH RIN#(1)=ON T=0.10 DIS=15.0 +MOVJ LEX002
'search for z (ref p 4)
'********************************
GETS LB000 $B002
'search detection
'********************************
JUMP *NG IF LB000=0
'touch failed if LB000=0
'********************************
GETS LPX007 $PX002
'getting 1st detection point
'********************************
CNVRT LPX008 LPX007 MTF
SUB LP008 LP005
'calculating 1st shift amount
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
'move to ref p 3
'********************************
SET P003 LP008
'setting global shift variable
'********************************
SETE P003 (1) 0
SETE P003 (2) 0
Final
SETE P003 (4) 0
SETE P003 (5) 0
SETE P003 (6) 0
'clearing unused data
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
RET
*NG
SUB P003 P003
'resetting global shift variable
PAUSE
'touch failed
'********************************
SMOVL LP001 V=16.7 +MOVJ LEX001
END
Start Point Detect
150601-1
Final page 111
Function Manual
Appendix A Standard Jobs page 112 Final
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